Nesting negotiation for self-mobile devices

ABSTRACT

Disparate robotic devices can be automatically recharged and reprogrammed by self-scheduling individual time slots for the available recharging area(s) of a charging station. These charging stations provide a nest to which each robot must return periodically for power. These nests can also provide new tasking or patches for the robotic devices. The charging station and the robotic devices are both provided with communications capabilities and a protocol by which they can negotiate to find a time slot in which the device can be recharged, as well as determining a correct connector and a battery type.

This application is a continuation of application Ser. No. 10/721,436,filed Nov. 25, 2003 now U.S. Pat. No. 7,376,487.

BACKGROUND OF THE INVENTION

1. Technical Field

The invention relates to the ability of a robotic device to monitor andnegotiate the charging of its own battery and to automatically receivere-tasking and patches during recharging. More specifically, theinvention relates to a nesting device to which each robotic device mustreturn periodically, with the robotic devices and nesting device sharinga protocol by which they negotiate a time slot for each robotic device.

2. Description of Related Art

Robots have been the stuff of science fiction from the early part of thenineteenth century to the present. Now, however, many types of roboticdevices have been realized and many more are being designed. Some ofthese are relatively fixed, such as a robotic arm to locate tapes in atape library, and these can be connected to a source of electricity by apower line. For self-mobile robotic devices, a battery is generallyincluded as a power supply that must be periodically recharged. For aself-mobile robot, periodic recharging of the battery is necessary andit has been suggested that the more capable a robot is of taking care ofits own needs, the less of a burden it is on the infrastructure itserves. For instance, U.S. Pat. No. 4,777,416 to George et al., in itsabstract, discloses a “recharge docking system for a battery-poweredmobile robot which senses when the battery charge is below apredetermined level and halts the travel of the robot at its nextnavigational node following which the robot independently plots andnegotiates a path from the next node back to a base node at a rechargestation, where the batteries are charged.” Thus, providing for automaticrecharging is known.

However, as self-mobile robotic devices infiltrate into the mainstream,a company or individual who utilizes robots can find themselves with alarge number of robotic devices that require regular recharging. Itwould be desirable to have a device and protocol by which a large numberof robotic devices can be charged by a single charging unit in the mostefficient possible manner, i.e., without human intervention.

SUMMARY OF THE INVENTION

A nesting device, system, and method are provided by which a number ofdisparate robotic devices can be automatically recharged andreprogrammed during self-scheduled time slots. The nesting devicecontains one or more recharging areas, which can be generic to servedisparate types of devices or can contain a specific connector for acertain type of robotic device. Because these nests must be visited on aregular basis, they can communicate updates or new sets of instructionsto the robotic devices during recharging. The nesting device and therobotic devices are both provided with communications capabilities and aprotocol by which they can negotiate to find a time slot in which therobotic device can be recharged and provided other information.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the invention are setforth in the appended claims. The invention itself, however, as well asa preferred mode of use, further objectives and advantages thereof, willbest be understood by reference to the following detailed description ofan illustrative embodiment when read in conjunction with theaccompanying drawings, wherein:

FIGS. 1A and 1B depict a top-down view and a perspective view of anesting station according to a first embodiment of the presentinvention.

FIG. 2 depicts a robotic device connected for recharging to the nestingstation of FIG. 1.

FIGS. 3A and 3B depict a top-down view and a perspective view of anesting station according to an alternate embodiment of the presentinvention

FIG. 4 depicts a nesting station configured as a free-standing tower,according to an alternate embodiment of the invention.

FIG. 5 depicts a nesting station according to a further alternateembodiment of the invention.

FIG. 6 depicts a nesting station having multiple connectors forcharging, according to a further alternate embodiment of the invention.

FIG. 7 is a block diagram of the circuitry necessary for the nestingstation.

FIG. 8 is a flowchart of the protocol for negotiating a time slot forrecharging according to an embodiment of the invention; and

FIG. 9 is a flowchart of a method by which the nesting station and therobotic devices can negotiate charging times according to an embodimentof the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

The invention will now be described with regard to the drawings. Withattention first to FIGS. 1 a and 1B, nesting station 100 is shownaccording to an exemplary embodiment of the invention. In its broadestembodiments, nesting station 100 of the present invention is designed tooffer charging (and retasking, if needed) to as wide a variety ofrobotic devices as possible. To this end, nesting station 100 has base102 onto which a robotic device can roll by means of beveled edge 103.The top surface of nesting station 100 is generally flat to provide astable surface on which the robotic devises can rest. Two metal platesform respectively negative terminal 104 and positive terminal 108.Between these two contact plates, infrared (IR) transmitter/receiver 106allows communications between nesting device 100 and the roboticdevices. Infrared transmissions can be used for point-to-pointcommunications when there are no obstructions between the chargingstation and robotic device. When the communications is point-to-point,it is necessary that a protocol exist for regular contact between thenesting station and the robotic devices whenever they are within line ofsight. This contact can be initiated by nesting station 100 or by therobotic devices, but should include checking the battery level in orderto estimate time until a charge is needed. Alternatively, a triggerpoint can be set for each robot, indicating a battery level at which thedevice should seek recharging. The value of this trigger point would bedetermined according to the number of robotic devices using the nestingstation, the length of time necessary for charging, the level ofactivity of the robotic devices, etc. When it is determined that thebattery has reached a trigger point, the robotic device requests a timeslot for charging. Nesting station 100 keeps a record of scheduledcharging times so that two devices are not attempting to charge at thesame time. Nesting station 100 and robotic devices then work through asuitable protocol to schedule a time. The robotic device can proceed tonesting station 100, if it is available, or return to work until nestingstation 100 is free.

Because the nesting station 100 has a generalized structure, it ispossible that the station 100 can offer charging to many different typesof batteries. To this end, the nesting station 100 is preferablyconfigured to determine the type of battery to be charged and to shiftits output characteristics accordingly.

FIG. 2 shows small robotic cleaning device 202 that has returned tonesting unit 100 as scheduled. Robotic device 202 has rolled onto base102 of nesting unit 100, using wheels 204. Once there, robotic device202 either extends or allows to drop two metal connectors 206. Thesewill contact respectively positive contact 108 and negative contact 104.At the same time, an infrared port (not shown) on the bottom of roboticdevice 202 is brought into alignment with IR port 406 on top of nestingstation 100. Further communications, such as new tasks to be performedor upgrades to the software of the robotic device, can be downloaded tothe device while it is charging.

FIGS. 3A and 3B show an alternate version of the innovative nestingdevice. In this version, there are two main changes from the embodimentof FIGS. 1A and 1B. First, electrical connectors 304, 308 on nestingstation 300 are much larger, taking up most of the surface area on base302. Secondly, rather than IR 106, the device is equipped with atechnology, such as Bluetooth (a short-range radio signal), WiFi(wireless fidelity, a generic term for any type of 802.11 network), or asimilar technology. These technologies do not require line-of-sight tooperate and thus has more flexibility in communicating with the roboticdevices.

FIG. 4 discloses another embodiment of the innovative nesting station.In this embodiment, electrodes 404, 408 are placed, one above the other,in a tower arrangement. Body 410 of nesting station 400 can be mountedon a stable base 401 or can be attached to a wall for stability.Communications link 406 can utilize any of the wireless technologiesavailable. FIG. 5 is another embodiment in which contacts 504, 508 arein a vertical configuration, with body 510 either supported by base 502or fastened to a wall. Again, communications link 506 can utilize any ofthe wireless technologies. In both FIGS. 4 and 5, the robotic devicedoes not rest on the nesting station, but moves into close proximity sothat positive and negative terminals of the battery are able to comeinto contact with the contacts.

In an alternate embodiment, the nesting device does not contain generic,flat contacts, but a number of different styles of contacts are madeavailable to suit the needs of a variety of robotic devices. FIG. 6demonstrates a fanciful version of this embodiment of the invention,with three connectors 610, 612, 614 provided. In this embodiment theprocessor will keep a separate schedule for each type of connector; arobotic device will need to know and communicate the type of connectionit requires.

FIG. 7 demonstrates circuitry 700 necessary to run the innovativenesting unit. In this diagram, a combined power converter and chargingcircuit 702 receives power from the main power grid and converts it tothe proper voltage needed by the robotic devices. This converted poweris sent to the positive and negative terminals of the nesting stationand from there into the battery of the robotic unit. In the preferredembodiment, the power converter and charging circuit 702 are adapted tocharge more than one battery type. To this end, the power converter andcharging circuit 702 preferably has the ability to shift its outputcharacteristics from voltage source to current source, as well as theability to monitor the charging current and voltage and the chargingtime. Processor 708, which is connected to memory 710, controls powerconverter 702. Processor 708 has connections to communications module712 for communicating with the robotic devices and to clock 714 thatsupplies date and time. A schedule of charging times can be kept inmemory 710 for access when scheduling.

FIG. 8 demonstrates circuitry 800 necessary to run the innovativerobotic device. In this illustrative embodiment, the robotic device 800contains a processor 808 that directs its activity according toinstructions stored in the memory 810. The robotic device 800 alsocontains some type of device that provides mobility 816 for the roboticdevice, a clock 814 for determining the time, and communicationscapabilities 812 to allow it to communicate with the charging station.The processor 808, clock 814, and communications device 812 are allpowered by battery 802. Battery 802 is in turn charged using externalconnectors 804.

FIG. 9 demonstrates an exemplary flowchart of a method by which thenesting station and the robotic devices can negotiate charging times. Inthis exemplary embodiment, a triggering device on a robotic device hasdetected that the battery charge is getting low. The robotic device willcontact the nesting station (step 910) at the first available moment. Ifa line-of-sight form of communication is utilized, there can be a delayin time between the device noticing that charging is needed andcontacting the nesting station. If a robotic device follows a presetroute, this may mean waiting until reaching a known location wherecommunications are possible; if not, the device can periodically attemptcommunications until a response is received. Once the nesting station iscontacted, the robotic unit requests a time slot for charging. If anumber of different types of connectors are available, the unit willalso identify the type of connector necessary.

Depending on its programming, the nesting station checks theavailability of the needed connector and if necessary, the priority ofthe robotic device, then assigns a time slot to the robotic device (step915). The priority of a robotic device can be important if the nestingstation is shared, for example, by some devices that are used daily andothers that are only needed weekly or sporadically. A device that isused only weekly may have a low priority if the device is not scheduledto be used for several days, but can be bumped up in priority nearer tothe time of its use. In systems where only a few robotic devices areused, the scheduling can be very simple, while a corporation using alarge number of mobile robotic devices can have a more complexscheduling algorithm as necessary.

The nesting station notifies the robotic device of the next availableslot and sets that time aside for this particular device (step 920).Unless a slot is available immediately, the robotic device will storethe time at which it is scheduled for charging. When this time nears,the robot reports at the nesting station for charging. The nestingstation can verify that this robotic device is indeed for this time slotand grant permission for charging (step 925). At that time, the roboticdevice can position itself and begin charging (step 930). While thedevice is recharging, the nesting station can check to see is there isan outstanding order to retask the robotic device by providing new orupdated instructions, whether patches are needed in the programming(step 935). If so, the nesting station can communicate this to therobotic device and proceed to provide updating while the robotic deviceis charging (step 940). Because the robotic devices themselves performtheir own charging and updating, the owner or manager of the roboticdevices does not need to contact each robotic device individually.Instead, the manager simply provides instructions to the nestingstation(s) and allows the nesting station(s) to coordinate the updateswith the robotic devices themselves.

One of ordinary skill in the art will realize that variations in thisflowchart are possible without departing from the spirit of theinvention. One such example can be an environment where only a fewrobotic devices are used and the nesting unit is available much of thetime. In this environment, the nesting station can be programmed torespond to a request for charging with a simple notification that thecharger is currently available or not available. The requesting roboticdevice can be instructed to check back in a given amount of time to seeif the nesting station is available. Alternatively, where a large numberof robotic units share a nesting station, a request from a high priorityrobotic device can cause another, already scheduled, robotic device tobe “bumped” out of its time slot into a later slot. In this case, thenesting station must contact the device originally scheduled andnegotiate a later time for charging.

In a further alternate embodiment, the negotiations can be moreextensive. For example, if a robotic device has a regular schedule ofactivity it must maintain, the robotic device can be programmed toprovide suggested time slots when it is available for recharging; thenesting station can then verify that a suggested time is available ornot, or can bump a lower priority device from a needed slot.

Thus, the exact protocol for negotiation can be varied according to theenvironment, but the embodiments of the inventive nesting system allowthe robotic devices to regularly schedule and receive nesting withouthuman intervention.

It is important to note that while the present invention has beendescribed in the context of a fully functioning data processing system,those of ordinary skill in the art will appreciate that the processes ofthe present invention are capable of being distributed in the form of acomputer readable medium of instructions and a variety of forms and thatthe present invention applies equally regardless of the particular typeof signal bearing media actually used to carry out the distribution.Examples of computer readable media include recordable-type media, suchas a floppy disk, a hard disk drive, a RAM, CD-ROMS, DVD-ROMs, andtransmission-type media, such as digital and analog communicationslinks, wired or wireless communications links using transmission forms,such as, for example, radio frequency and light wave transmissions. Thecomputer readable media may take the form of coded formats that aredecoded for actual use in a particular data processing system.

The description of the present invention has been presented for purposesof illustration and description, and is not intended to be exhaustive orlimited to the invention in the form disclosed. Many modifications andvariations will be apparent to those of ordinary skill in the art. Theembodiment was chosen and described in order to best explain theprinciples of the invention, the practical application, and to enableothers of ordinary skill in the art to understand the invention forvarious embodiments with various modifications as are suited to theparticular use contemplated.

1. A recharging system, comprising: a nesting station having a firstconnector for a self-mobile device, said first connector being containedby the nesting station and configured in such a manner that self-mobiledevices can self-position into a charging position for charging; aplurality of self-mobile devices, each of said plurality of self-mobiledevices having a capability to self-propel into the charging positionwith said first connector of the nesting station; a first communicationsdevice associated with said nesting station and a plurality of secondcommunication devices associated with respective ones of said pluralityof self-mobile devices, whereby said nesting station has two-waycommunications capability with said plurality of self-mobile devices; afirst protocol for negotiating and utilizing respective charging timesfor said plurality of self-mobile devices, said protocol beingnegotiated by said nesting station and each of said plurality ofself-mobile devices, whereby human intervention is not necessary forcharging of said plurality of self-mobile devices wherein said protocolcomprises: establishing a communications link between said nestingstation and one of said plurality of self-mobile devices that needscharging; providing an indication of whether the charge of a battery ofsaid one of said plurality of self-mobile devices has dropped below agiven level; if said the charge of said battery has dropped below agiven level, assigning said one of said plurality of self-mobile devicesa time at to report to said nesting station for charging, wherein saidassigning is performed by said nesting station.
 2. The recharging systemof claim 1, further comprising a second protocol for automaticallyproviding, by the nesting station, new executable instructions orexecutable updates to basic executable programming to ones of saidplurality of self-mobile devices.
 3. The recharging system of claim 2,wherein said second protocol is invoked during said respective chargingtimes for said plurality of self-mobile devices.
 4. The rechargingsystem of claim 1, wherein said first connector of the nesting stationcomprises a first flat plate connected to form a negative contact and asecond flat plate connected to form a positive contact, and wherein saidnesting station determines a type of battery to be charged in a givenone of said plurality of self-mobile devices, and shifts its chargingcircuit output characteristics to match the type of battery.
 5. Therecharging system of claim 4, wherein said first and second flat platesare mounted horizontally and a self-mobile device positions over saidfirst and said second plates for charging.
 6. The recharging system ofclaim 5, wherein said first and second flat plates are mountedvertically and a self-mobile device positions over said first and saidsecond plates for charging.
 7. The recharging system of claim 1, furthercomprising a second connector contained by the nesting station andconfigured in such a manner that the plurality of self-mobile devicescan self-position into another position for charging.
 8. The rechargingsystem of claim 7, wherein said first connector and said secondconnector of the nesting station are identical.
 9. The recharging systemof claim 7, wherein said protocol further comprises identifying a typeof connector for a given one of the plurality of self-mobile devices,and wherein said first connector and said second connector of thenesting station are not identical and work with different types ofself-mobile devices having different types of connectors.
 10. Therecharging system of claim 1, wherein the nesting station furthercomprises a processor connected to said first connector and said firstcommunications device, said processor connected to negotiate with theplurality of self-mobile devices according to the first protocol inorder to administer time slots for charging the plurality of self-mobiledevices.
 11. The recharging system of claim 10, further comprising asecond protocol for automatically providing, by the nesting station, newexecutable instructions or executable updates to basic executableprogramming to ones of the plurality of self-mobile devices.
 12. Arechargeable robotic device, comprising: a body; a processor attached tosaid body; a propulsion device attached to said body to providingself-propulsion; a communications device attached to said body andconnected to said processor to provide two-way communications with acharging station; a battery connected to said processor, said propulsiondevice, and said communications device; a connector for charging saidbattery, said connector being configured in such a manner that saidrobotic device can self-position for charging; wherein said processor isconnected to negotiate with a charging station, using a given protocol,to schedule a time slot for charging of said battery wherein saidprotocol comprises: determining that the charge of said battery hasdropped below a given level; establishing a communications link withsaid charging station; requesting a time slot for charging; receiving asuggested time slot for charging; verifying that said suggested timeslot is acceptable and storing said suggested time slot in memory; andreporting for charging at said time slot.
 13. The rechargeable roboticdevice of claim 12, wherein said protocol further comprises identifyinga type of connector for a given one of the plurality of self-mobiledevices such that the charging station is operable with different typesof self-mobile devices having different types of connectors.
 14. Therecharging system of claim 11, wherein the new executable instructionsor executable updates are provided by the charging station to a givenone of the plurality of self-mobile devices while the given one isrecharging at the charging station.
 15. The recharging system of claim1, wherein said protocol further comprises identifying a type ofconnector used by a given one of the plurality of self-mobile devices.